Aurora offre une combinaison de zones piétonnières et de défis pour les piétons. Certains quartiers sont dotés de trottoirs et d'infrastructures adaptées aux piétons, ce qui facilite la navigation à pied. Cependant, la tentation de la ville et la distance entre les principales destinations peuvent rendre la marche à pied moins pratique dans certaines régions. La météo peut également être un facteur, avec les hivers froids et la pluie occasionnelle qui affectent la qualité de la marche. Bien que la marche puisse être une option agréable dans les zones locales, ce n'est pas toujours le moyen le plus efficace de se déplacer dans la ville.

Aurora provides a range of biking infrastructure, including bike lanes and trails, making it possible to navigate parts of the city by bicycle. Many areas are accessible by bike, though the city’s layout and distances between destinations may require careful planning for longer trips. The region’s infrastructure supports safe cycling in some areas, but riders should be mindful of traffic and road conditions. Weather can also impact biking, as colder months or occasional storms may make cycling less comfortable. Limebike is available through the Uber app, providing an additional option for those without their own bike.

Public transportation in Aurora includes bus and light rail services operated by the regional transit system. The city is served by multiple bus routes and the R Line light rail, which connects key areas within Aurora and the Denver metro region. Public transit can be a practical choice for accessing many destinations, though the spread-out nature of the city may require planning for longer travel times. Weather conditions, such as snow, can occasionally impact transit schedules, so checking updates during winter months is recommended.